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<h1>mindsensors-sumoeyes.h</h1>  </div>
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<a href="mindsensors-sumoeyes_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*!@addtogroup mindsensors</span>
<a name="l00002"></a>00002 <span class="comment"> * @{</span>
<a name="l00003"></a>00003 <span class="comment"> * @defgroup MSSUMO Sumo Eyes Sensor</span>
<a name="l00004"></a>00004 <span class="comment"> * Mindsensors Sumo Eyes Sensor</span>
<a name="l00005"></a>00005 <span class="comment"> * @{</span>
<a name="l00006"></a>00006 <span class="comment"> */</span>
<a name="l00007"></a>00007 
<a name="l00008"></a>00008 <span class="comment">/*</span>
<a name="l00009"></a>00009 <span class="comment"> * $Id: mindsensors-sumoeyes.h 133 2013-03-10 15:15:38Z xander $</span>
<a name="l00010"></a>00010 <span class="comment"> */</span>
<a name="l00011"></a>00011 
<a name="l00012"></a>00012 <span class="preprocessor">#ifndef __MSSUMO_H__</span>
<a name="l00013"></a>00013 <span class="preprocessor"></span><span class="preprocessor">#define __MSSUMO_H__</span>
<a name="l00014"></a>00014 <span class="preprocessor"></span><span class="comment">/** \file mindsensors-sumoeyes.h</span>
<a name="l00015"></a>00015 <span class="comment"> * \brief Mindsensors Sumo Eyes Sensor driver</span>
<a name="l00016"></a>00016 <span class="comment"> *</span>
<a name="l00017"></a>00017 <span class="comment"> * mindsensors-sumoeyes.h provides an API for the Mindsensors Sumo Eyes sensor.</span>
<a name="l00018"></a>00018 <span class="comment"> *</span>
<a name="l00019"></a>00019 <span class="comment"> * Changelog:</span>
<a name="l00020"></a>00020 <span class="comment"> * - 0.1: Initial release</span>
<a name="l00021"></a>00021 <span class="comment"> *</span>
<a name="l00022"></a>00022 <span class="comment"> * Credits:</span>
<a name="l00023"></a>00023 <span class="comment"> * - Big thanks to Mindsensors for providing me with the hardware necessary to write and test this.</span>
<a name="l00024"></a>00024 <span class="comment"> *</span>
<a name="l00025"></a>00025 <span class="comment"> * License: You may use this code as you wish, provided you give credit where its due.</span>
<a name="l00026"></a>00026 <span class="comment"> *</span>
<a name="l00027"></a>00027 <span class="comment"> * THIS CODE WILL ONLY WORK WITH ROBOTC VERSION 3.59 AND HIGHER. </span>
<a name="l00028"></a>00028 <span class="comment"></span>
<a name="l00029"></a>00029 <span class="comment"> * \author Xander Soldaat (xander_at_botbench.com)</span>
<a name="l00030"></a>00030 <span class="comment"> * \date 30 October 2011</span>
<a name="l00031"></a>00031 <span class="comment"> * \version 0.1</span>
<a name="l00032"></a>00032 <span class="comment"> * \example mindsensors-sumoeyes-test1.c</span>
<a name="l00033"></a>00033 <span class="comment"> */</span>
<a name="l00034"></a>00034 
<a name="l00035"></a>00035 <span class="preprocessor">#pragma systemFile</span>
<a name="l00036"></a>00036 <span class="preprocessor"></span>
<a name="l00037"></a>00037 <span class="preprocessor">#ifndef __COMMON_H__</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#include &quot;<a class="code" href="common_8h.html" title="Commonly used functions used by drivers.">common.h</a>&quot;</span>
<a name="l00039"></a>00039 <span class="preprocessor">#endif</span>
<a name="l00040"></a>00040 <span class="preprocessor"></span>
<a name="l00041"></a>00041 <span class="comment">// This ensures the correct sensor types are used.</span>
<a name="l00042"></a><a class="code" href="group___m_s_s_u_m_o.html#ga1a697b3af6bb3fc07828afd8b546d352">00042</a> TSensorTypes <a class="code" href="group___m_s_s_u_m_o.html#ga1a697b3af6bb3fc07828afd8b546d352">MSSUMOLRType</a> = sensorLightInactive;
<a name="l00043"></a><a class="code" href="group___m_s_s_u_m_o.html#gad297aa73bcd18cb4a58293db6e419b02">00043</a> TSensorTypes <a class="code" href="group___m_s_s_u_m_o.html#gad297aa73bcd18cb4a58293db6e419b02">MSSUMOSRType</a> = sensorLightActive;
<a name="l00044"></a>00044 
<a name="l00045"></a><a class="code" href="group___m_s_s_u_m_o.html#ga93eafadbcb5a5cd9c4e21a3dafde7e40">00045</a> <span class="keyword">typedef</span> <span class="keyword">enum</span> {
<a name="l00046"></a><a class="code" href="group___m_s_s_u_m_o.html#gga93eafadbcb5a5cd9c4e21a3dafde7e40adc7cafb01ca5133eaddc6e03afc3df3d">00046</a>   <a class="code" href="group___m_s_s_u_m_o.html#gga93eafadbcb5a5cd9c4e21a3dafde7e40adc7cafb01ca5133eaddc6e03afc3df3d">MSSUMO_NONE</a> = 0,
<a name="l00047"></a><a class="code" href="group___m_s_s_u_m_o.html#gga93eafadbcb5a5cd9c4e21a3dafde7e40a5179192d89f5475f99a68585d7f4563e">00047</a>   <a class="code" href="group___m_s_s_u_m_o.html#gga93eafadbcb5a5cd9c4e21a3dafde7e40a5179192d89f5475f99a68585d7f4563e">MSSUMO_FRONT</a> = 1,
<a name="l00048"></a><a class="code" href="group___m_s_s_u_m_o.html#gga93eafadbcb5a5cd9c4e21a3dafde7e40a7fdaf4b41cbdc758134bbc24e7f17f11">00048</a>   <a class="code" href="group___m_s_s_u_m_o.html#gga93eafadbcb5a5cd9c4e21a3dafde7e40a7fdaf4b41cbdc758134bbc24e7f17f11">MSSUMO_LEFT</a> = 2,
<a name="l00049"></a><a class="code" href="group___m_s_s_u_m_o.html#gga93eafadbcb5a5cd9c4e21a3dafde7e40a44ba5f073b6d0e062e213003b8c7762e">00049</a>   <a class="code" href="group___m_s_s_u_m_o.html#gga93eafadbcb5a5cd9c4e21a3dafde7e40a44ba5f073b6d0e062e213003b8c7762e">MSSUMO_RIGHT</a> = 3
<a name="l00050"></a>00050 } <a class="code" href="group___m_s_s_u_m_o.html#ga93eafadbcb5a5cd9c4e21a3dafde7e40">tObstacleZone</a>;
<a name="l00051"></a>00051 
<a name="l00052"></a>00052 <a class="code" href="group___m_s_s_u_m_o.html#ga93eafadbcb5a5cd9c4e21a3dafde7e40">tObstacleZone</a> <a class="code" href="group___m_s_s_u_m_o.html#ga9558324cb07bbdb49c8a1fef6f677016">MSSUMOreadZone</a>(tSensors link);
<a name="l00053"></a>00053 <span class="keywordtype">void</span> <a class="code" href="group___m_s_s_u_m_o.html#ga7d80ef979278d1678fbf7af48cae4703">MSSUMOsetShortRange</a>(tSensors link);
<a name="l00054"></a>00054 <span class="keywordtype">void</span> <a class="code" href="group___m_s_s_u_m_o.html#ga4e1eaddb586e8387c128ea5f76516829">MSSUMOsetLongRange</a>(tSensors link);
<a name="l00055"></a>00055 <span class="comment"></span>
<a name="l00056"></a>00056 <span class="comment">/**</span>
<a name="l00057"></a>00057 <span class="comment"> * Get the raw value from the sensor</span>
<a name="l00058"></a>00058 <span class="comment"> * @param link the MSSUMO port number</span>
<a name="l00059"></a>00059 <span class="comment"> * @return raw value of the sensor</span>
<a name="l00060"></a>00060 <span class="comment"> */</span>
<a name="l00061"></a><a class="code" href="group___m_s_s_u_m_o.html#ga9558324cb07bbdb49c8a1fef6f677016">00061</a> <a class="code" href="group___m_s_s_u_m_o.html#ga93eafadbcb5a5cd9c4e21a3dafde7e40">tObstacleZone</a> <a class="code" href="group___m_s_s_u_m_o.html#ga9558324cb07bbdb49c8a1fef6f677016">MSSUMOreadZone</a>(tSensors link) {
<a name="l00062"></a>00062   <span class="keywordtype">int</span> sensordata = 0;
<a name="l00063"></a>00063 
<a name="l00064"></a>00064   sensordata = SensorValue[link];
<a name="l00065"></a>00065 
<a name="l00066"></a>00066         <span class="keywordflow">if</span> ( sensordata &gt; 30 &amp;&amp; sensordata &lt; 36 )
<a name="l00067"></a>00067         {
<a name="l00068"></a>00068           <span class="comment">// obstacle is on left</span>
<a name="l00069"></a>00069     <span class="keywordflow">return</span> (<a class="code" href="group___m_s_s_u_m_o.html#gga93eafadbcb5a5cd9c4e21a3dafde7e40a7fdaf4b41cbdc758134bbc24e7f17f11">MSSUMO_LEFT</a>);
<a name="l00070"></a>00070         }
<a name="l00071"></a>00071         <span class="keywordflow">else</span> <span class="keywordflow">if</span> ( sensordata &gt; 63 &amp;&amp; sensordata &lt; 69 )
<a name="l00072"></a>00072         {
<a name="l00073"></a>00073           <span class="comment">// obstacle is on right</span>
<a name="l00074"></a>00074     <span class="keywordflow">return</span> (<a class="code" href="group___m_s_s_u_m_o.html#gga93eafadbcb5a5cd9c4e21a3dafde7e40a44ba5f073b6d0e062e213003b8c7762e">MSSUMO_RIGHT</a>);
<a name="l00075"></a>00075         }
<a name="l00076"></a>00076         <span class="keywordflow">else</span> <span class="keywordflow">if</span> ( sensordata &gt;= 74 &amp;&amp; sensordata &lt;= 80 )
<a name="l00077"></a>00077         {
<a name="l00078"></a>00078           <span class="comment">// obstacle is in front.</span>
<a name="l00079"></a>00079     <span class="keywordflow">return</span> (<a class="code" href="group___m_s_s_u_m_o.html#gga93eafadbcb5a5cd9c4e21a3dafde7e40a5179192d89f5475f99a68585d7f4563e">MSSUMO_FRONT</a>);
<a name="l00080"></a>00080         }
<a name="l00081"></a>00081         <span class="keywordflow">else</span>
<a name="l00082"></a>00082         {
<a name="l00083"></a>00083           <span class="keywordflow">return</span> (<a class="code" href="group___m_s_s_u_m_o.html#gga93eafadbcb5a5cd9c4e21a3dafde7e40adc7cafb01ca5133eaddc6e03afc3df3d">MSSUMO_NONE</a>);
<a name="l00084"></a>00084         }
<a name="l00085"></a>00085 }
<a name="l00086"></a>00086 
<a name="l00087"></a>00087 <span class="comment"></span>
<a name="l00088"></a>00088 <span class="comment">/**</span>
<a name="l00089"></a>00089 <span class="comment"> * Set the range of the sensor to short range, this is done</span>
<a name="l00090"></a>00090 <span class="comment"> * by configuring the sensor as sensorLightActive.</span>
<a name="l00091"></a>00091 <span class="comment"> * @param link the MSSUMO port number</span>
<a name="l00092"></a>00092 <span class="comment"> */</span>
<a name="l00093"></a><a class="code" href="group___m_s_s_u_m_o.html#ga7d80ef979278d1678fbf7af48cae4703">00093</a> <span class="keywordtype">void</span> <a class="code" href="group___m_s_s_u_m_o.html#ga7d80ef979278d1678fbf7af48cae4703">MSSUMOsetShortRange</a>(tSensors link) {
<a name="l00094"></a>00094   <span class="keywordflow">if</span> (SensorType[link] != <a class="code" href="group___m_s_s_u_m_o.html#gad297aa73bcd18cb4a58293db6e419b02">MSSUMOSRType</a>)
<a name="l00095"></a>00095     SetSensorType(link, <a class="code" href="group___m_s_s_u_m_o.html#gad297aa73bcd18cb4a58293db6e419b02">MSSUMOSRType</a>);
<a name="l00096"></a>00096 }
<a name="l00097"></a>00097 
<a name="l00098"></a>00098 <span class="comment"></span>
<a name="l00099"></a>00099 <span class="comment">/**</span>
<a name="l00100"></a>00100 <span class="comment"> * Set the range of the sensor to long range, this is done</span>
<a name="l00101"></a>00101 <span class="comment"> * by configuring the sensor as sensorLightInactive</span>
<a name="l00102"></a>00102 <span class="comment"> * @param link the MSSUMO port number</span>
<a name="l00103"></a>00103 <span class="comment"> */</span>
<a name="l00104"></a><a class="code" href="group___m_s_s_u_m_o.html#ga4e1eaddb586e8387c128ea5f76516829">00104</a> <span class="keywordtype">void</span> <a class="code" href="group___m_s_s_u_m_o.html#ga4e1eaddb586e8387c128ea5f76516829">MSSUMOsetLongRange</a>(tSensors link) {
<a name="l00105"></a>00105   <span class="keywordflow">if</span> (SensorType[link] != <a class="code" href="group___m_s_s_u_m_o.html#ga1a697b3af6bb3fc07828afd8b546d352">MSSUMOLRType</a>)
<a name="l00106"></a>00106     SetSensorType(link, <a class="code" href="group___m_s_s_u_m_o.html#ga1a697b3af6bb3fc07828afd8b546d352">MSSUMOLRType</a>);
<a name="l00107"></a>00107 }
<a name="l00108"></a>00108 
<a name="l00109"></a>00109 
<a name="l00110"></a>00110 <span class="preprocessor">#endif // __MSSUMO_H__</span>
<a name="l00111"></a>00111 <span class="preprocessor"></span>
<a name="l00112"></a>00112 <span class="comment">/*</span>
<a name="l00113"></a>00113 <span class="comment"> * $Id: mindsensors-sumoeyes.h 133 2013-03-10 15:15:38Z xander $</span>
<a name="l00114"></a>00114 <span class="comment"> */</span>
<a name="l00115"></a>00115 <span class="comment">/* @} */</span>
<a name="l00116"></a>00116 <span class="comment">/* @} */</span>
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